On-Site 4-in-1 Alignment: Visualization and Interactive CAD Model Retrofitting Using UAV, LiDAR's Point Cloud Data, and Video.

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2019
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Abstract
Acquisition of 3D point cloud data (PCD) using a laser scanner and aligning it with a video frame is a new approach that is efficient for retrofitting comprehensive objects in heavy pipeline industrial facilities. This work contributes a generic framework for interactive retrofitting in a virtual environment and an unmanned aerial vehicle (UAV)-based sensory setup design to acquire PCD. The framework adopts a 4-in-1 alignment using a point cloud registration algorithm for a pre-processed PCD alignment with the partial PCD, and frame-by-frame registration method for video alignment. This work also proposes a virtual interactive retrofitting framework that uses pre-defined 3D computer-aided design models (CAD) with a customized graphical user interface (GUI) and visualization of a 4-in-1 aligned video scene from a UAV camera in a desktop environment. Trials were carried out using the proposed framework in a real environment at a water treatment facility. A qualitative and quantitative study was conducted to evaluate the performance of the proposed generic framework from participants by adopting the appropriate questionnaire and retrofitting task-oriented experiment. Overall, it was found that the proposed framework could be a solution for interactive 3D CAD model retrofitting on a combination of UAV sensory setup-acquired PCD and real-time video from the camera in heavy industrial facilities.
Reference Key
n2019onsitesensors Use this key to autocite in the manuscript while using SciMatic Manuscript Manager or Thesis Manager
Authors N, Pavan Kumar B;Patil, Ashok Kumar;B, Chethana;Chai, Young Ho;
Journal sensors
Year 2019
DOI
E3908
URL
Keywords
interactions visualization cad model laser scanner point cloud alignment point cloud data retrofitting unmanned aerial vehicle

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